gcs-nf/MavLinkNode/replay.cpp

 #include "replay.h"


Replay::Replay(QObject *parent) : QObject(parent)
{
    //main thread
    running_flag = false;
    thread = new QThread();
    this->moveToThread(thread);
    connect(thread, SIGNAL(started()), this, SLOT(process()));
    setRunFrq(5);//100

    logFile.clear();
}

Replay::~Replay()
{
    if(thread->isRunning())
    {
        thread->quit();
        thread->wait();
    }
    delete thread;
    thread = nullptr;
}

//线程相关函数
void Replay::setRunFrq(uint32_t frq)
{
    if((frq != 0)||(frq <= 1000))
    {
        running_frq = frq;
        qDebug() << "set thread running frquency:" <<frq <<"Hz";
    }
}

void Replay::start()
{
    if(!thread)
    {
        thread = new QThread();
        this->moveToThread(thread);
        connect(thread, SIGNAL(started()), this, SLOT(process()));
        connect(thread, &QThread::finished,thread,&QObject::deleteLater);
    }

    if(!thread->isRunning())
    {
        if(!file)
        {

            file = new QFile();
            file->setFileName(logFile);
            if(!file->open(QIODevice::ReadOnly))
            {
                if(!logFile.isEmpty())
                {
                    QMessageBox::warning(nullptr,
                                         tr("Error"),
                                         tr("%1").arg(file->errorString()));
                }
                delete file;
                file = nullptr;
            }
            else
            {
                running_flag = true;
                thread->start();
                qDebug() << "thread start" << running_flag;
            }

        }
        else
        {
            running_flag = true;
            thread->start();
            qDebug() << "thread start" << running_flag;
        }
    }
    else
    {
        qDebug() << "thread has started";
    }
}


void Replay::stop()
{
    if(thread->isRunning())
    {
        running_flag = false;

        disconnect(thread, nullptr, nullptr, nullptr);

        thread->quit();
        thread->deleteLater();
    }
    else
    {
        qDebug() << "thread is not running";
    }
}

void Replay::process()//线程函数
{
    quint64 lastTimestamp = 0;
    quint64 currentTimestamp = 0;

    quint64 timeStamp = 0;

    while (running_flag)
    {
        //mutex.lock();
        if(isplaying)
        {
            if(!ispause)//不暂停
            {
                 if(file)//已经有文件，那么可以读取
                 {
                     if(position <= file->size())
                     {
                         QByteArray raw;
                         QByteArray time;

                         file->seek(position);

                         raw = file->read(MAVLINK_MAX_PACKET_LEN + sizeof(quint64));

                         if(raw.indexOf(0xFD) >= 8)
                         {
                             time = raw.mid(raw.indexOf(0xFD) - 8,8);
                         }
                         else
                         {
                             position -= 8 - raw.indexOf(0xFD);

                             file->seek(position);

                             raw = file->read(MAVLINK_MAX_PACKET_LEN + sizeof(quint64));

                             time = raw.mid(raw.indexOf(0xFD) - 8,8);
                         }


                         //qDebug() << raw.indexOf(0xFD);



                         union {uint8_t B[8];uint64_t DW;}src;

                         src.B[0] = time.data()[7];
                         src.B[1] = time.data()[6];
                         src.B[2] = time.data()[5];
                         src.B[3] = time.data()[4];
                         src.B[4] = time.data()[3];
                         src.B[5] = time.data()[2];
                         src.B[6] = time.data()[1];
                         src.B[7] = time.data()[0];

                         currentTimestamp = src.DW;

                         if(lastTimestamp == 0)
                         {
                             lastTimestamp = currentTimestamp - 50;
                         }

                         if(((currentTimestamp - lastTimestamp) >0)&&((currentTimestamp - lastTimestamp) < 5000000))
                         {
                            timeStamp = currentTimestamp - lastTimestamp;
                         }

                         if((currentTimestamp - lastTimestamp) >0)
                         {

                            if((((double)timeStamp)/ multiple) > 50)
                            {
                                QThread::usleep(uint64_t(timeStamp / multiple));
                                //qDebug() << "us" << uint64_t(timeStamp / multiple) << timeStamp << multiple;
                            }
                            else
                            {
                                QThread::usleep(1000);
                                //qDebug() << "1000 us";
                            }

                             //QThread::msleep(timeStamp * (multiple / 1000.0));


                             if(timeStamp < 50)
                             {
                                 timeStamp = 50;
                             }

                             //QThread::msleep(timeStamp);


                             /*
                             if((timeStamp * (multiple / 1000.0)) > 50)
                             {
                                 QThread::msleep(timeStamp * (multiple / 1000.0));
                             }
                             else
                             {
                                 QThread::msleep(50);
                             }
                             */

                         }


                         position += (uint8_t)raw.at(raw.indexOf(0xFD)+1) + 20;

                         buff.clear();
                         buff = raw.mid(raw.indexOf(0xFD),(uint8_t)raw.at(raw.indexOf(0xFD) +1) + 12);

                         //读取一帧数据
                         //将百分比增加，或者位置增加
                         percentage = (float)position / file->size();
                         emit currentPercentage(percentage);
                         emit readReady();


                         /*
                         qDebug() << position
                                  << currentTimestamp
                                  << lastTimestamp
                                  << currentTimestamp - lastTimestamp;
                                  */





                         lastTimestamp = currentTimestamp;
                     }
                     else
                     {
                         emit replayComplete();
                         isplaying = false;
                     }
                 }
            }
            else
            {
                QThread::msleep(1000);//如果没有播放，那么每秒钟检测一下是否要播放
            }
        }
        else
        {
            QThread::msleep(1000);//如果没有播放，那么每秒钟检测一下是否要播放
        }
        //mutex.unlock();
    }
    //退出线程
    //disconnect(thread, nullptr, nullptr, nullptr);
    //thread->quit();
    //thread->deleteLater();
    //thread = nullptr;

}

//类相关函数

QByteArray Replay::readAll(void)
{
    //把buff里面的数据返回
    QByteArray data;

    data.clear();
    if(!buff.isEmpty())
    {
        data.append(buff);
        buff.clear();
    }
    return data;
}


void Replay::setLogfile(const QString name, float percent)
{
    if(name != logFile)
    {
        logFile = name;
        //重置各种参数
        percentage = 0;
        ispause = false;
        isplaying = false;

        //emit currentPercentage(percentage);
        //emit readReady();

        if(!file)
        {

            file = new QFile();
            file->setFileName(logFile);
            if(!file->open(QIODevice::ReadOnly))
            {
                if(!logFile.isEmpty())
                {
                    QMessageBox::warning(nullptr,
                                         tr("Error"),
                                         tr("%1").arg(file->errorString()));
                }
                delete file;
                file = nullptr;
            }
        }
    }
    else
    {
        logFile = name;
        //重置各种参数
        percentage = percent;
        ispause = false;
        isplaying = false;
    }

    qDebug() << name << percent;
}

void Replay::setPercentage(float value)
{
    percentage = value;

    if(file)//已经有文件，那么可以读取
    {
        position = percentage * file->size();
    }

}

void Replay::startReplay(bool flag)
{
    qDebug() << "play flag" << flag;
    if(flag)
    {
        if(ispause == true)
        {
            ispause = false;
        }

        if(isplaying == false)
        {
            isplaying = true;
        }

        //根据百分比设置位置
        if(file)//已经有文件，那么可以读取
        {
            position = percentage * file->size();
        }
        //启动线程
        start();
    }
    else
    {
       ispause = true;
    }
}


void Replay::setMultiple(double value)
{
    if(value != 0)
    {
         multiple = value;
    }
}